-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = false,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 0,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 1,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D = {
    use_imu_data = true,
    min_range = 0.15,
    max_range = 12.0,
    num_accumulated_range_data = 1,
    missing_data_ray_length = 1.0,
    use_online_correlative_scan_matching = true,
    real_time_correlative_scan_matcher = {
        linear_search_window = 0.15,
        angular_search_window = math.rad(30.),
    },

    submaps = {
        num_range_data = 20,
    },

    motion_filter = {
        max_time_seconds = 5.,    
        max_distance_meters = 0.15,     
        max_angle_radians = math.rad(0.1),   
    }
}

POSE_GRAPH = {
    -- optimize_every_n_nodes = 10,
    -- constraint_builder.min_score = 0.7,
    optimization_problem = {
        huber_scale = 1e1,
        acceleration_weight = 1.1e2,
        rotation_weight = 1.6e4,
        local_slam_pose_translation_weight = 1e5,
        local_slam_pose_rotation_weight = 1e5,
        odometry_translation_weight = 1e5,
        odometry_rotation_weight = 1e5,
        fixed_frame_pose_translation_weight = 1e1,
        fixed_frame_pose_rotation_weight = 1e2,
        fixed_frame_pose_use_tolerant_loss = false,
        fixed_frame_pose_tolerant_loss_param_a = 1,
        fixed_frame_pose_tolerant_loss_param_b = 1,
        log_solver_summary = false,
        use_online_imu_extrinsics_in_3d = true,
        fix_z_in_3d = false,
        ceres_solver_options = {
            use_nonmonotonic_steps = false,
            max_num_iterations = 50,
            num_threads = 7,
        },
    },
}

return options
